Abstract:
In this paper, we apply a nonlinear model predictive
control (NMPC) approach to control a highly nonlin-
ear loading bridge system. A multiple shooting com-
bined with a collocation on finite elements is used to
realize the NMPC. That means, the multiple shooting
algorithm is used to convert the optimal control prob-
lem to a nonlinear program (NLP). Thus, the degree of
freedom of this NLP consists of a parameterized con-
trols and initial conditions of the state trajectories in
each subinterval. The collocation on finite elements is
used to computethe state variables and their gradientat
the end of each subinterval. Applying this approach to
control the loading bridge shows a high accuracy and
computation efficiency for the integration of the model
equation. The controlled loading bridge is considered
to be disturbed in each feedback measurement. The
numerical solution is realized in the framework of the
numerical algorithm group (NAG) and IPOPT to solve
the NLP pro
